c52f6592
 pfrison
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#include <avr/io.h>
#include <avr/interrupt.h>
#include <util/delay.h>
#define NB_TICK 104 //1563
#define CPU_FREQ 16000000L
#define QUANTUM_ms 10
#define SAVE_CONTEXT() \
asm volatile ( \
"push r0 \n\t" \
"in r0, __SREG__ \n\t" \
"cli \n\t" \
"push r0 \n\t" \
"push r1 \n\t" \
"clr r1 \n\t" \
"push r2 \n\t" \
"push r3 \n\t" \
"push r4 \n\t" \
"push r5 \n\t" \
"push r6 \n\t" \
"push r7 \n\t" \
"push r8 \n\t" \
"push r9 \n\t" \
"push r10 \n\t" \
"push r11 \n\t" \
"push r12 \n\t" \
"push r13 \n\t" \
"push r14 \n\t" \
"push r15 \n\t" \
"push r16 \n\t" \
"push r17 \n\t" \
"push r18 \n\t" \
"push r19 \n\t" \
"push r20 \n\t" \
"push r21 \n\t" \
"push r22 \n\t" \
"push r23 \n\t" \
"push r24 \n\t" \
"push r25 \n\t" \
"push r26 \n\t" \
"push r27 \n\t" \
"push r28 \n\t" \
"push r29 \n\t" \
"push r30 \n\t" \
"push r31 \n\t" \
);
#define RESTORE_CONTEXT() \
asm volatile ( \
"pop r31 \n\t" \
"pop r30 \n\t" \
"pop r29 \n\t" \
"pop r28 \n\t" \
"pop r27 \n\t" \
"pop r26 \n\t" \
"pop r25 \n\t" \
"pop r24 \n\t" \
"pop r23 \n\t" \
"pop r22 \n\t" \
"pop r21 \n\t" \
"pop r20 \n\t" \
"pop r19 \n\t" \
"pop r18 \n\t" \
"pop r17 \n\t" \
"pop r16 \n\t" \
"pop r15 \n\t" \
"pop r14 \n\t" \
"pop r13 \n\t" \
"pop r12 \n\t" \
"pop r11 \n\t" \
"pop r10 \n\t" \
"pop r9 \n\t" \
"pop r8 \n\t" \
"pop r7 \n\t" \
"pop r6 \n\t" \
"pop r5 \n\t" \
"pop r4 \n\t" \
"pop r3 \n\t" \
"pop r2 \n\t" \
"pop r1 \n\t" \
"pop r0 \n\t" \
"out __SREG__, r0 \n\t" \
"pop r0 \n\t" \
);
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d8927986
pfrison
test ordonnanceur...
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/** Configure les ports */
void init_ports(){
//TODO DDRXs
}
/** ----- Liaison serie ----- */
void init_serial(int speed){
UBRR0 = CPU_FREQ/(((unsigned long int)speed)<<4)-1; //Set baud rate
UCSR0B = (1<<TXEN0 | 1<<RXEN0); //Enable transmitter & receiver
UCSR0C = (1<<UCSZ01 | 1<<UCSZ00); //Set 8 bits character and 1 stop bit
UCSR0A &= ~(1 << U2X0); //Set off UART baud doubler
}
void send_serial(unsigned char c){
loop_until_bit_is_set(UCSR0A, UDRE0);
UDR0 = c;
}
unsigned char get_serial(void){
loop_until_bit_is_set(UCSR0A, RXC0);
return UDR0;
}
/** ----- Taches ----- */
void task_print_a(void){
while(1){
send_serial('a');
_delay_ms(1000);
}
}
void task_print_b(void){
while(1){
send_serial('b');
_delay_ms(700);
}
}
/** ----- Ordonnancement ----- */
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c52f6592
pfrison
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struct task{
uint16_t sp_vise;
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c52f6592
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};
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uint8_t cpt = 0;
uint8_t premier_lancement = 0;
struct task print_a = {0x0300};
struct task print_b = {0x0500};
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c52f6592
pfrison
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/** Démarre le timer pour l'ordonnancement */
void init_timer(){
TCCR1B |= _BV(WGM12); // CTC mode with value in OCR1A
TCCR1B |= _BV(CS12); // CS12 = 1; CS11 = 1; CS10 =1 => CLK/1024 prescaler
TCCR1B |= _BV(CS10);
OCR1A = NB_TICK;
TIMSK1 |= _BV(OCIE1A);
}
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d8927986
pfrison
test ordonnanceur...
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/** Changement de contexte */
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c52f6592
pfrison
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ISR(TIMER1_COMPA_vect){
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d8927986
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if(premier_lancement == 0){
premier_lancement++;
sei();
SP = print_a.sp_vise;
task_print_a();
}else if(premier_lancement == 1){
SAVE_CONTEXT();
print_a.sp_vise = SP;
premier_lancement++;
sei();
SP = print_b.sp_vise;
task_print_b();
}else{
if(cpt==0){
SAVE_CONTEXT();
print_b.sp_vise = SP;
SP = print_a.sp_vise;
RESTORE_CONTEXT();
cpt++;
}else if(cpt==1){
SAVE_CONTEXT();
print_a.sp_vise = SP;
SP = print_b.sp_vise;
RESTORE_CONTEXT();
cpt = 0;
}
}
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c52f6592
pfrison
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sei();
}
int main(void){
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// Initialisation
init_timer();
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init_ports();
init_serial(9600);
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sei();
while(1){}
return 0;
}
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